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|
/* SPDX-License-Identifier: LGPL-2.1-or-later */
/*
* Copyright (C) 2020, Laurent Pinchart
* Copyright (C) 2019, Martijn Braam
*
* simple.cpp - Pipeline handler for simple pipelines
*/
#include <algorithm>
#include <iterator>
#include <list>
#include <map>
#include <memory>
#include <queue>
#include <set>
#include <string>
#include <string.h>
#include <utility>
#include <vector>
#include <linux/media-bus-format.h>
#include <libcamera/camera.h>
#include <libcamera/request.h>
#include <libcamera/stream.h>
#include "libcamera/internal/camera_sensor.h"
#include "libcamera/internal/device_enumerator.h"
#include "libcamera/internal/log.h"
#include "libcamera/internal/media_device.h"
#include "libcamera/internal/pipeline_handler.h"
#include "libcamera/internal/v4l2_subdevice.h"
#include "libcamera/internal/v4l2_videodevice.h"
#include "converter.h"
namespace libcamera {
LOG_DEFINE_CATEGORY(SimplePipeline)
/* -----------------------------------------------------------------------------
*
* Overview
* --------
*
* The SimplePipelineHandler relies on generic kernel APIs to control a camera
* device, without any device-specific code and with limited device-specific
* static data.
*
* To qualify for support by the simple pipeline handler, a device shall
*
* - be supported by V4L2 drivers, exposing the Media Controller API, the V4L2
* subdev APIs and the media bus format-based enumeration extension for the
* VIDIOC_ENUM_FMT ioctl ;
* - not expose any device-specific API from drivers to userspace ;
* - include one or more camera sensor media entities and one or more video
* capture devices ;
* - have a capture pipeline with linear paths from the camera sensors to the
* video capture devices ; and
* - have an optional memory-to-memory device to perform format conversion
* and/or scaling, exposed as a V4L2 M2M device.
*
* As devices that require a specific pipeline handler may still match the
* above characteristics, the simple pipeline handler doesn't attempt to
* automatically determine which devices it can support. It instead relies on
* an explicit list of supported devices, provided in the supportedDevices
* array.
*
* When matching a device, the pipeline handler enumerates all camera sensors
* and attempts, for each of them, to find a path to a video capture video node.
* It does so by traversing the media graph, following the first non permanently
* disabled downstream link. If such a path is found, the pipeline handler
* creates a corresponding SimpleCameraData instance, and stores the media graph
* path in its entities_ list.
*
* A more complex graph search algorithm could be implemented if a device that
* would otherwise be compatible with the pipeline handler isn't correctly
* handled by this heuristic.
*
* Once the camera data instances have been created, the match() function
* creates a V4L2Subdevice instance for each entity used by any of the cameras
* and stores the instances in SimplePipelineHandler::subdevs_, accessible by
* the SimpleCameraData class through the SimplePipelineHandler::subdev()
* function. This avoids duplication of subdev instances between different
* cameras when the same entity is used in multiple paths. A similar mechanism
* is used for V4L2VideoDevice instances, but instances are in this case created
* on demand when accessed through SimplePipelineHandler::video() instead of all
* in one go at initialization time.
*
* Finally, all camera data instances are initialized to gather information
* about the possible pipeline configurations for the corresponding camera. If
* valid pipeline configurations are found, a Camera is registered for the
* SimpleCameraData instance.
*
* Pipeline Configuration
* ----------------------
*
* The simple pipeline handler configures the pipeline by propagating V4L2
* subdev formats from the camera sensor to the video node. The format is first
* set on the camera sensor's output, using the native camera sensor
* resolution. Then, on every link in the pipeline, the format is retrieved on
* the link source and set unmodified on the link sink.
*
* When initializating the camera data, this above procedure is repeated for
* every media bus format supported by the camera sensor. Upon reaching the
* video node, the pixel formats compatible with the media bus format are
* enumerated. Each of those pixel formats corresponds to one possible pipeline
* configuration, stored as an instance of SimpleCameraData::Configuration in
* the SimpleCameraData::formats_ map.
*
* Format Conversion and Scaling
* -----------------------------
*
* The capture pipeline isn't expected to include a scaler, and if a scaler is
* available, it is ignored when configuring the pipeline. However, the simple
* pipeline handler supports optional memory-to-memory converters to scale the
* image and convert it to a different pixel format. If such a converter is
* present, the pipeline handler enumerates, for each pipeline configuration,
* the pixel formats and sizes that the converter can produce for the output of
* the capture video node, and stores the information in the outputFormats and
* outputSizes of the SimpleCameraData::Configuration structure.
*/
class SimplePipelineHandler;
struct SimplePipelineInfo {
const char *driver;
const char *converter;
};
namespace {
static const SimplePipelineInfo supportedDevices[] = {
{ "imx7-csi", "pxp" },
{ "qcom-camss", nullptr },
{ "sun6i-csi", nullptr },
};
} /* namespace */
class SimpleCameraData : public CameraData
{
public:
SimpleCameraData(SimplePipelineHandler *pipe, MediaEntity *sensor);
bool isValid() const { return sensor_ != nullptr; }
int init();
int setupLinks();
int setupFormats(V4L2SubdeviceFormat *format,
V4L2Subdevice::Whence whence);
struct Entity {
MediaEntity *entity;
MediaLink *link;
};
struct Configuration {
uint32_t code;
PixelFormat pixelFormat;
Size captureSize;
SizeRange outputSizes;
};
std::vector<Stream> streams_;
std::unique_ptr<CameraSensor> sensor_;
std::list<Entity> entities_;
V4L2VideoDevice *video_;
std::map<PixelFormat, Configuration> formats_;
};
class SimpleCameraConfiguration : public CameraConfiguration
{
public:
SimpleCameraConfiguration(Camera *camera, SimpleCameraData *data);
Status validate() override;
bool needConversion() const { return needConversion_; }
private:
/*
* The SimpleCameraData instance is guaranteed to be valid as long as
* the corresponding Camera instance is valid. In order to borrow a
* reference to the camera data, store a new reference to the camera.
*/
std::shared_ptr<Camera> camera_;
const SimpleCameraData *data_;
bool needConversion_;
};
class SimplePipelineHandler : public PipelineHandler
{
public:
SimplePipelineHandler(CameraManager *manager);
CameraConfiguration *generateConfiguration(Camera *camera,
const StreamRoles &roles) override;
int configure(Camera *camera, CameraConfiguration *config) override;
int exportFrameBuffers(Camera *camera, Stream *stream,
std::vector<std::unique_ptr<FrameBuffer>> *buffers) override;
int start(Camera *camera, const ControlList *controls) override;
void stop(Camera *camera) override;
bool match(DeviceEnumerator *enumerator) override;
V4L2VideoDevice *video(const MediaEntity *entity);
V4L2Subdevice *subdev(const MediaEntity *entity);
SimpleConverter *converter() { return converter_.get(); }
protected:
int queueRequestDevice(Camera *camera, Request *request) override;
private:
SimpleCameraData *cameraData(const Camera *camera)
{
return static_cast<SimpleCameraData *>(
PipelineHandler::cameraData(camera));
}
void bufferReady(FrameBuffer *buffer);
void converterInputDone(FrameBuffer *buffer);
void converterOutputDone(FrameBuffer *buffer);
MediaDevice *media_;
std::map<const MediaEntity *, std::unique_ptr<V4L2VideoDevice>> videos_;
std::map<const MediaEntity *, V4L2Subdevice> subdevs_;
std::unique_ptr<SimpleConverter> converter_;
bool useConverter_;
std::vector<std::unique_ptr<FrameBuffer>> converterBuffers_;
std::queue<FrameBuffer *> converterQueue_;
Camera *activeCamera_;
};
/* -----------------------------------------------------------------------------
* Camera Data
*/
SimpleCameraData::SimpleCameraData(SimplePipelineHandler *pipe,
MediaEntity *sensor)
: CameraData(pipe)
{
int ret;
streams_.resize(1);
/*
* Walk the pipeline towards the video node and store all entities
* along the way.
*/
MediaEntity *source = sensor;
while (source) {
/* If we have reached a video node, we're done. */
if (source->function() == MEDIA_ENT_F_IO_V4L)
break;
/* Use the first output pad that has links. */
MediaPad *sourcePad = nullptr;
for (MediaPad *pad : source->pads()) {
if ((pad->flags() & MEDIA_PAD_FL_SOURCE) &&
!pad->links().empty()) {
sourcePad = pad;
break;
}
}
if (!sourcePad)
return;
/*
* Use the first link that is enabled or can be enabled (not
* immutable).
*/
MediaLink *sourceLink = nullptr;
for (MediaLink *link : sourcePad->links()) {
if ((link->flags() & MEDIA_LNK_FL_ENABLED) ||
!(link->flags() & MEDIA_LNK_FL_IMMUTABLE)) {
sourceLink = link;
break;
}
}
if (!sourceLink)
return;
entities_.push_back({ source, sourceLink });
source = sourceLink->sink()->entity();
/* Avoid infinite loops. */
auto iter = std::find_if(entities_.begin(), entities_.end(),
[&](const Entity &entity) {
return entity.entity == source;
});
if (iter != entities_.end()) {
LOG(SimplePipeline, Info) << "Loop detected in pipeline";
return;
}
}
/*
* We have a valid pipeline, get the video device and create the camera
* sensor.
*/
video_ = pipe->video(source);
if (!video_)
return;
sensor_ = std::make_unique<CameraSensor>(sensor);
ret = sensor_->init();
if (ret) {
sensor_.reset();
return;
}
}
int SimpleCameraData::init()
{
SimplePipelineHandler *pipe = static_cast<SimplePipelineHandler *>(pipe_);
SimpleConverter *converter = pipe->converter();
int ret;
/*
* Setup links first as some subdev drivers take active links into
* account to propagate TRY formats. Such is life :-(
*/
ret = setupLinks();
if (ret < 0)
return ret;
/*
* Enumerate the possible pipeline configurations. For each media bus
* format supported by the sensor, propagate the formats through the
* pipeline, and enumerate the corresponding possible V4L2 pixel
* formats on the video node.
*/
for (unsigned int code : sensor_->mbusCodes()) {
V4L2SubdeviceFormat format{ code, sensor_->resolution() };
ret = setupFormats(&format, V4L2Subdevice::TryFormat);
if (ret < 0) {
LOG(SimplePipeline, Debug)
<< "Media bus code " << utils::hex(code, 4)
<< " not supported for this pipeline";
/* Try next mbus_code supported by the sensor */
continue;
}
V4L2VideoDevice::Formats videoFormats =
video_->formats(format.mbus_code);
LOG(SimplePipeline, Debug)
<< "Adding configuration for " << format.size.toString()
<< " in pixel formats [ "
<< utils::join(videoFormats, ", ",
[](const auto &f) {
return f.first.toString();
})
<< " ]";
/*
* Store the configuration in the formats_ map, mapping the
* PixelFormat to the corresponding configuration. Any
* previously stored value is overwritten, as the pipeline
* handler currently doesn't care about how a particular
* PixelFormat is achieved.
*/
for (const auto &videoFormat : videoFormats) {
PixelFormat pixelFormat = videoFormat.first.toPixelFormat();
if (!pixelFormat)
continue;
Configuration config;
config.code = code;
config.pixelFormat = pixelFormat;
config.captureSize = format.size;
if (!converter) {
config.outputSizes = config.captureSize;
formats_[pixelFormat] = config;
continue;
}
config.outputSizes = converter->sizes(format.size);
for (PixelFormat fmt : converter->formats(pixelFormat))
formats_[fmt] = config;
}
}
if (formats_.empty()) {
LOG(SimplePipeline, Error) << "No valid configuration found";
return -EINVAL;
}
properties_ = sensor_->properties();
return 0;
}
int SimpleCameraData::setupLinks()
{
int ret;
/*
* Configure all links along the pipeline. Some entities may not allow
* multiple sink links to be enabled together, even on different sink
* pads. We must thus start by disabling all sink links (but the one we
* want to enable) before enabling the pipeline link.
*/
for (SimpleCameraData::Entity &e : entities_) {
MediaEntity *remote = e.link->sink()->entity();
for (MediaPad *pad : remote->pads()) {
for (MediaLink *link : pad->links()) {
if (link == e.link)
continue;
if ((link->flags() & MEDIA_LNK_FL_ENABLED) &&
!(link->flags() & MEDIA_LNK_FL_IMMUTABLE)) {
ret = link->setEnabled(false);
if (ret < 0)
return ret;
}
}
}
if (!(e.link->flags() & MEDIA_LNK_FL_ENABLED)) {
ret = e.link->setEnabled(true);
if (ret < 0)
return ret;
}
}
return 0;
}
int SimpleCameraData::setupFormats(V4L2SubdeviceFormat *format,
V4L2Subdevice::Whence whence)
{
SimplePipelineHandler *pipe = static_cast<SimplePipelineHandler *>(pipe_);
int ret;
/*
* Configure the format on the sensor output and propagate it through
* the pipeline.
*/
ret = sensor_->setFormat(format);
if (ret < 0)
return ret;
for (const Entity &e : entities_) {
MediaLink *link = e.link;
MediaPad *source = link->source();
MediaPad *sink = link->sink();
if (source->entity() != sensor_->entity()) {
V4L2Subdevice *subdev = pipe->subdev(source->entity());
ret = subdev->getFormat(source->index(), format, whence);
if (ret < 0)
return ret;
}
if (sink->entity()->function() != MEDIA_ENT_F_IO_V4L) {
V4L2SubdeviceFormat sourceFormat = *format;
V4L2Subdevice *subdev = pipe->subdev(sink->entity());
ret = subdev->setFormat(sink->index(), format, whence);
if (ret < 0)
return ret;
if (format->mbus_code != sourceFormat.mbus_code ||
format->size != sourceFormat.size) {
LOG(SimplePipeline, Debug)
<< "Source '" << source->entity()->name()
<< "':" << source->index()
<< " produces " << sourceFormat.toString()
<< ", sink '" << sink->entity()->name()
<< "':" << sink->index()
<< " requires " << format->toString();
return -EINVAL;
}
}
LOG(SimplePipeline, Debug)
<< "Link '" << source->entity()->name()
<< "':" << source->index()
<< " -> '" << sink->entity()->name()
<< "':" << sink->index()
<< " configured with format " << format->toString();
}
return 0;
}
/* -----------------------------------------------------------------------------
* Camera Configuration
*/
SimpleCameraConfiguration::SimpleCameraConfiguration(Camera *camera,
SimpleCameraData *data)
: CameraConfiguration(), camera_(camera->shared_from_this()),
data_(data)
{
}
CameraConfiguration::Status SimpleCameraConfiguration::validate()
{
Status status = Valid;
if (config_.empty())
return Invalid;
if (transform != Transform::Identity) {
transform = Transform::Identity;
status = Adjusted;
}
/* Cap the number of entries to the available streams. */
if (config_.size() > 1) {
config_.resize(1);
status = Adjusted;
}
StreamConfiguration &cfg = config_[0];
/* Adjust the pixel format. */
auto it = data_->formats_.find(cfg.pixelFormat);
if (it == data_->formats_.end())
it = data_->formats_.begin();
PixelFormat pixelFormat = it->first;
if (cfg.pixelFormat != pixelFormat) {
LOG(SimplePipeline, Debug) << "Adjusting pixel format";
cfg.pixelFormat = pixelFormat;
status = Adjusted;
}
const SimpleCameraData::Configuration &pipeConfig = it->second;
if (!pipeConfig.outputSizes.contains(cfg.size)) {
LOG(SimplePipeline, Debug)
<< "Adjusting size from " << cfg.size.toString()
<< " to " << pipeConfig.captureSize.toString();
cfg.size = pipeConfig.captureSize;
status = Adjusted;
}
needConversion_ = cfg.pixelFormat != pipeConfig.pixelFormat
|| cfg.size != pipeConfig.captureSize;
cfg.bufferCount = 3;
/* Set the stride and frameSize. */
if (!needConversion_) {
V4L2DeviceFormat format;
format.fourcc = data_->video_->toV4L2PixelFormat(cfg.pixelFormat);
format.size = cfg.size;
int ret = data_->video_->tryFormat(&format);
if (ret < 0)
return Invalid;
cfg.stride = format.planes[0].bpl;
cfg.frameSize = format.planes[0].size;
return status;
}
SimplePipelineHandler *pipe = static_cast<SimplePipelineHandler *>(data_->pipe_);
SimpleConverter *converter = pipe->converter();
std::tie(cfg.stride, cfg.frameSize) =
converter->strideAndFrameSize(cfg.pixelFormat, cfg.size);
if (cfg.stride == 0)
return Invalid;
return status;
}
/* -----------------------------------------------------------------------------
* Pipeline Handler
*/
SimplePipelineHandler::SimplePipelineHandler(CameraManager *manager)
: PipelineHandler(manager)
{
}
CameraConfiguration *SimplePipelineHandler::generateConfiguration(Camera *camera,
const StreamRoles &roles)
{
SimpleCameraData *data = cameraData(camera);
CameraConfiguration *config =
new SimpleCameraConfiguration(camera, data);
if (roles.empty())
return config;
/* Create the formats map. */
std::map<PixelFormat, std::vector<SizeRange>> formats;
std::transform(data->formats_.begin(), data->formats_.end(),
std::inserter(formats, formats.end()),
[](const auto &format) -> decltype(formats)::value_type {
const PixelFormat &pixelFormat = format.first;
const Size &size = format.second.captureSize;
return { pixelFormat, { size } };
});
/*
* Create the stream configuration. Take the first entry in the formats
* map as the default, for lack of a better option.
*
* \todo Implement a better way to pick the default format
*/
StreamConfiguration cfg{ StreamFormats{ formats } };
cfg.pixelFormat = formats.begin()->first;
cfg.size = formats.begin()->second[0].max;
config->addConfiguration(cfg);
config->validate();
return config;
}
int SimplePipelineHandler::configure(Camera *camera, CameraConfiguration *c)
{
SimpleCameraConfiguration *config =
static_cast<SimpleCameraConfiguration *>(c);
SimpleCameraData *data = cameraData(camera);
V4L2VideoDevice *video = data->video_;
StreamConfiguration &cfg = config->at(0);
int ret;
/*
* Configure links on the pipeline and propagate formats from the
* sensor to the video node.
*/
ret = data->setupLinks();
if (ret < 0)
return ret;
const SimpleCameraData::Configuration &pipeConfig =
data->formats_[cfg.pixelFormat];
V4L2SubdeviceFormat format{ pipeConfig.code, data->sensor_->resolution() };
ret = data->setupFormats(&format, V4L2Subdevice::ActiveFormat);
if (ret < 0)
return ret;
/* Configure the video node. */
V4L2PixelFormat videoFormat = video->toV4L2PixelFormat(pipeConfig.pixelFormat);
V4L2DeviceFormat captureFormat;
captureFormat.fourcc = videoFormat;
captureFormat.size = pipeConfig.captureSize;
ret = video->setFormat(&captureFormat);
if (ret)
return ret;
if (captureFormat.planesCount != 1) {
LOG(SimplePipeline, Error)
<< "Planar formats using non-contiguous memory not supported";
return -EINVAL;
}
if (captureFormat.fourcc != videoFormat ||
captureFormat.size != pipeConfig.captureSize) {
LOG(SimplePipeline, Error)
<< "Unable to configure capture in "
<< pipeConfig.captureSize.toString() << "-"
<< videoFormat.toString();
return -EINVAL;
}
/* Configure the converter if required. */
useConverter_ = config->needConversion();
if (useConverter_) {
StreamConfiguration inputCfg;
inputCfg.pixelFormat = pipeConfig.pixelFormat;
inputCfg.size = pipeConfig.captureSize;
inputCfg.stride = captureFormat.planes[0].bpl;
inputCfg.bufferCount = cfg.bufferCount;
ret = converter_->configure(inputCfg, { cfg });
if (ret < 0) {
LOG(SimplePipeline, Error)
<< "Unable to configure converter";
return ret;
}
LOG(SimplePipeline, Debug) << "Using format converter";
}
cfg.setStream(&data->streams_[0]);
return 0;
}
int SimplePipelineHandler::exportFrameBuffers(Camera *camera, Stream *stream,
std::vector<std::unique_ptr<FrameBuffer>> *buffers)
{
SimpleCameraData *data = cameraData(camera);
unsigned int count = stream->configuration().bufferCount;
/*
* Export buffers on the converter or capture video node, depending on
* whether the converter is used or not.
*/
if (useConverter_)
return converter_->exportBuffers(0, count, buffers);
else
return data->video_->exportBuffers(count, buffers);
}
int SimplePipelineHandler::start(Camera *camera, [[maybe_unused]] const ControlList *controls)
{
SimpleCameraData *data = cameraData(camera);
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